Ankle and knee joint angle measurements during gait with wearable sensor system for rehabilitation

Hiroki Saito, Takashi Watanabe, Achmad Arifin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Citations (Scopus)

Abstract

A method of joint angle measurement during gait using wearable sensors for rehabilitation was studied in this paper. The method corrected joint angles measured by gyroscopes using joint angles measured by accelerometers with Kalman filter. Although gyroscopes could measure joint angles, their offset drift caused error in measurement of joint angles. At first, we made up small sensor units consist of a gyroscope and an accelerometer. Then, the method was validated with the developed sensor units in measurement of ankle and knee joint angles of three healthy subjects under walking on short distance pathway and on treadmill for long time. The measured joint angles were compared with reference joint angles measured with optical motion measurement system simultaneously. The result for short distance walking showed low RMS errors and high correlation coefficients (3.19deg and 0.918 for the ankle joint, 2.98deg and 0.993 for the knee joint in average). The result for treadmill walking also showed low RMS errors and high correlation coefficients (3.04deg and 0.960 for the ankle, 4.19deg and 0.994 for the knee in average). Although the measurement accuracy decreased in some of trials of a specific subject because of sensor attachment position, the experimental results suggested that joint angle could be measured with good accuracy independent of measurement period of time, walking speeds and subjects.

Original languageEnglish
Title of host publicationWorld Congress on Medical Physics and Biomedical Engineering
Subtitle of host publicationNeuroengineering, Neural Systems, Rehabilitation and Prosthetics
PublisherSpringer Verlag
Pages506-509
Number of pages4
Edition9
ISBN (Print)9783642038884
DOIs
Publication statusPublished - 2009
EventWorld Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural Systems, Rehabilitation and Prosthetics - Munich, Germany
Duration: 2009 Sep 72009 Sep 12

Publication series

NameIFMBE Proceedings
Number9
Volume25
ISSN (Print)1680-0737

Other

OtherWorld Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural Systems, Rehabilitation and Prosthetics
CountryGermany
CityMunich
Period09/9/709/9/12

Keywords

  • Accelerometer
  • Gait analysis
  • Gyroscope
  • Joint angle
  • Kalman filter

ASJC Scopus subject areas

  • Bioengineering
  • Biomedical Engineering

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